Digital system for controlling the position along a given path of a movable structure



March 5, 1968 SEIUEMON INABA ETA 3,372,321 DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 1 FIG./

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ROLLING THE DIGITAL SYSTEM FOR CONT POSI ON ALONG A GIVEN PATH OF A MOVABLE STRUC E Filed June 22, 1967 F/G. 3a U F/G.4a LA LA l5 Sheets-Sheet 2 March 5, 1968 SEIUEMON INABA E AL 3,372,321

TEM FOR CONTROLLING THE POSITION ALONG DIGITAL SYS A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 3 F G 5 OPT/(4A 0575070? MEAD March 5, 1968 SEIUEMON INABA ET 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE l5 Sheets-Sheet 5 Filed June 22, 1967 vb wnfikwiq R23 E Wm n lo A v 35 E31 3k zwkwku Q March 5, 1968 SEIUEMON INABA ET Filed June 22, 1967 OUTPUT A GIVEN PATH OF A MOVABLE STRUCTURE 15 Sheets-Sheet 6 F/GJ/a S/G/VALS OF PHOTOEL ECTR/C ELEMENTS OUTPUT TRIGGER OUTPUT S/GVVAL OUTPUT S/G/VAZ U PHOTOELECTR/C 5L EME/VT TR/GGER OUTPUT S/GA/AL OUTPUT SIG/VAL I A FIG. //b I r/ME I ITX F F/GJ/c TH T/ME Fl. l/d

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Mag-ch 5, 1968 SEIUEMON INABA E 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 1O FVER-S/Bl' SELECT GATE /4 R 64 723' 2/6 203, 2 jj hf FROM :|j 2/7 (AMPL/F/ER 2 202- COM/042470? 7 2/6 0F A76 4 i A TQJ, 205 k 20 2/3 1/ ER 2 227 c0 7 Q 225 FOR 467044 237/ POE/770M V4406 mew/7239 7644 F/GK/8a F'VfRS/Bl' B/A/ARV COUNTER March 5, 1968 SEiUEMON INABA ET AL 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 12 F G 2O COMP'NSATOR F/RSI' FZ/PFZOP 2.59 244 253 26/ s---- 2 /88 245 254 k If .S'ECO/VD /P FLOP 263 4 246 & Z65} 26 RESET March 5, 1968 SEIUEMQN I B ET AL 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 15 325 526 324 32/0. U 323 322a- 322b/ Z 321b -T- 3 525 A/VD 6147f 333 FIG 22 i March 5, 1968 SElUEMON INABA ET AL 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 14 FIG.24

,alvo- 02 6472' 33 7 March 5, 1968 SEIUEMON INABEA ET AL 3,372,321

DIGITAL SYSTEM FOR CONTROLLING THE POSITION ALONG A GIVEN PATH OF A MOVABLE STRUCTURE Filed June 22, 1967 15 Sheets-Sheet 15 FULL 4005 F G 2 7 FROM 0/44 FAA/EL OFF/61A? M/PUT REG/5T5? 5 3 i359 LWH. LW ELM m Pur 5571 0455 363 66/ 362 i L L% i s/wrr P0155 r- 7- j 368 36.9

E 7 SH/FT /3 9 I PULSE l l i i i FIG-$.28 385 B/A/Aky RAE/575R 383 384 United States Patent 7 Claims. ci. sis-is ABSTRACT OF THE DISCLOSURE A drive is coupled to a movable structure for displacing it. A detector mounted on a fixed structure and on the movable structure, detects positional variation of the movable structure along the path thereof. The detector comprises a scale atfixed to one of said structures and comprising a plurality of spaced indications. An optical detecting element is movably mounted on the other of the structures in operative proximity with the scale. The detector includes Zero range device for providing a zero range at a given interval for each indication of the scale. A datum setter has a first portion selectively adjustable for setting the major amount of a desired positional datum value and a secondportion selectively adjustable for setting the residual amount of the datum value. A presetting control is coupled to the optical detecting element for moving it relative to the structure in accordance with the residual amount. The presetting control comprises a vfirst register having a content equal to that of the second portion of the datum setter. A servomotor is coupled to the optical detecting element for moving it along the given path. A pulse generator is coupled to the optical detecting element for providing pulses corresponding in number to the displacement thereof. A first counter has an input connected to the pulse generator for counting pulses generated thereby. A first comparator has an output connected to the servomotor, an input connected to the output of the first counter and an input connected to the output of the first register for comparing the contents of the first register and the first counter and for energizing the servomotor until coincidence of the contents of the first register and first counter. A drive control is coupled to the drive and comprises a second register having a content equal to that of the first portion of the datum setter. A second counter has an input connected to the detector for counting pulses generated by the detector. A second comparator has an output connected to the drive, an input connected to the output of the second counter and an input connected to the output of the second register for comparing the contents of the second register and the second counter for energizing the drive until coincidence of the contents of the second register and second counter. A zero compensator has an output connected to an input of the second counter, an input connected to the output of the first comparator, an input connected to the output of the second comparator and an input connected to the detector for selectively varying the count of the second counter in accordance With indications outside the zero range.

Description of the invention The present application is a continuation-in-part of application Ser. No. 618,233, filed Feb. 23, 1967, and en titled Automatic Positioning System, now abandoned,

which in turn is a continuation of application S.N. 332,979, filed Dec. 23, 1963, entitled Automatic Positioning System, and now abandoned.

The present invention relates to a digital system for controlling the position along a given path of a movable structure. More particularly, the invention relates to automatic positioning systems for the movable structures, such as tool holders, of lathes, bore drilling machines, or other machine tools, and particularly to the types of positioning devices described in pending patent application Ser. No. 332,978 of Seiuemon Inaba, Kanryo Shimizu, Tokiji Shimajiri and Hajime Mori, assigned to the aSsignee of this application and filed Dec. 23, 1963, wherein the movable structure, which may comprise an apron, a workpiece holder, or a tool holder, is to be moved to a predetermined location along a fixed graduated scale.

In such systems, a first, or fine or Vernier control loop displaces an optical sensor in a detecting head mounted on the movable structure, until the sensor reaches a distance from its center or home position in the head equal to the decimal-fraction portion of a stored digital input value whose unit digit preferably corresponds to one scale graduation. A second control loop then moves the movable structure or tool holder until the sensor is at a scale line corresponding to the whole-number portion of the stored digital input values so that the center position in the head corresponds in position to the digital input value.

The operation of the first control loop may cause disagreement bctween the position of the movable structure and the Whole-number portion of the previously stored digital input value. This may be a source of error. Also over-travel of the sensor or the movable structure and elastic deformation upon completion of positioning may produce errors.

The principal object of the present invention is to provide a new and improved automatic positioning system. The automatic positioning system of the present invention functions to control the position along a given path of a movable structure with accuracy, efiiciency and reliability. The automatic positioning system of the present invention eliminates errors and disadvantages of prior art systems.

According to a feature of the invention a zero range about each scale line is established, and compensation at each location is accomplished in dependence upon whether the sensor or head is located Within a predetermined zero range about each scale line.

In accordance with the present invention, a digital system for controlling the position along a given path of a movable structure movably mounted on a fixed structure comprises a drive coupled to the movable structure for displacing the movable structure. A detector is mounted on the two structures for detecting positional variation of the movable structure along the path. The detector comprises a scale affixed to one of the structures. The scale comprises a plurality of spaced indications. An optical detecting element is movably mounted on the other of the structures in operative proximity with the scale. The detector includes zero range means for providing a zero range at a given interval for each indication of the scale. A datum setter has a first portion selectively adjustable for setting the major amount of a desired positional datum value and a second portion selectively adjustable for setting the residual amount of the datum value. A presetting control is coupled to the optical detecting element for moving the optical detecting element relative to the structure in accordance with the residual amount. The presetting control comprises a first register having an output and a content equal to that of the second portion of the datum setter. A servomotor is coupled to the optical detecting element for moving the optical detecting element along the given path. A pulse generator is coupled to the optical detecting element for providing pulses corresponding in number to the displacement of the optical detecting element. A first counter has an output and an input connected to the pulse generator for counting pulses generated by the pulse generator. A first comparator has an output connected to the servomotor, an input connected to the output of the first counter and an input connected to the output of the first register for comparing the contents of the first register and the first counter and for energizing the servomotor until coincidence of the contents of the first register and'first counter. A drive control is coupled to the drive. The drive control comprises a second register having'an output and a content equal to that of the first portion of the datum setter. A second counter has an output and an input connected to the detector for counting pulses generated by the detector. A second comparator has an output connected to the drive, an input connected to the output of the second counter and an input connected to the output of the second register for comparing the contents of the second register and the second counter for energizing the drive until coincidence of the contents of the second register and second counter. A zero compensator has an output connected to an input of the second counter, an input connected to the output of the first comparator, an input connected to the output of the second comparator and an input connected to the detector for selectively varying the count of the second counter in accordance with indications outside the zero range.

The zero range means comprises a square Wave pulse shaper and anopaque shield having a slit formed therethrough and positioned in the path of the optical detecting element. Each of the first and second counters comprisesa reversible binary counter. The presetting control comprises a first fine adjustment feedback loop and the drive control comprises a second coarse adjustment feedback loop.

In order that the present invention may be readily carried into effect, it'will now be described with reference to the accompanying drawings, wherein:

FIG. 1 is a block diagram of an embodiment of the automatic positioning system of the present invention;

FIG. 2 is a view from below of'the detector head of FIG. 1;

FIGS. 3a, 3b and 3c are schematic diagrams showing the relative positions of the sensorsand the scale lines of the system of FIG. 1;

FIGS. 4a and.4b are schematic diagrams showing'the relative positions of sensors and scale lines toaid'in explaining the invention;

FIG. 5 is-a cutaway perspective view of the optical detector head 5 and a drive motor'and pulse generator applicable as the motor and pulse generator 12- of the system of'FIG. 1;

FIG. 6 is a schematic diagram'of some of the basic components of the detector head 5 of the system of FIG. 1; FIG. 7 isa schematic diagram of a zero range device which may be utilized as the'zero range device of the system of FIG. 1 in the detector head 5 thereof;

FIGS. 8a and 8b are graphical presentations of the outputs of the sensors 7 of the detector head'S of the system of the present invention;

FIG. 9 is a block diagram of a central position and zero range indicator which may be utilized in the detector head'S'of the system of the present invention;

FIG. 10 is a circuit diagram of the difierential amplifier 48 iand the first trigger circuit 49 of the centralposition and zero range indicator of FIG. 9;

FIGS. 11a, 11b, 11c, 11d, lle, 11f and 11g are graphical presentations of the waveforms at various points of the circuit arrangement of FIG. 10;

FIG. 12 is a schematic diagram of a circuit of a dial portion of the dial panel 14 of the system of FIG. 1;

FIG. 13 is a schematic block diagram of a decimalbinary conversion register which may be utilized as the decimal-binary conversion register 15 or 19 of the system of FIG. 1;

FIG. 14 is a schematic block diagram of a comparator which may be utilized as the comparator :16 or 28 of the system of FIG. 1;

FIGS. 15a, 15b, 15c, 15d, 15c and 15 are graphical presentations of the waveforms at various points of the circuit arrangement of FIG. 14;

FIG. 16 is a circuit diagram of a drive for the drive motor 10 of the system of FIG. 1;

FIG. 17 is a schematic block diagram of a reversible select gate which may be utilized as the select gate 17 or 21 of the system ofFIG. 1;

FIGS. 18a and 18b are schematic block diagrams of a binary counter which may be utilized as the reversible binary counter 18 or 22 of the system of FIG. 1;

FIGS. 19 and 20 are schematic block diagrams of a compensator which may be utilized as the compensator 23 of the system of FIG. 1;

FIG. 21 is a circuit diagram of a flip flop which may be utilized as the flip flop of the various figures;

FIG. 22 is a circuit diagram of an AND gate which may be utiilzed as theAND gate of the various figures;

FIG. 23 is a circuit diagram of an OR gate which maybe utilized as the OR gate of the various figures;

FIG. 24 is a circuit diagram of an AND-OR gate which may be utilized as the AND-OR gate of FIG. 17;

FIG. 25 is a circuit diagram of an inverter which may be utilized as the inverter of the'various figures;

FIG. 26 is a circuit diagram of a full adder which may be utilized as the full adder of FIGS. 13, 18a and 18b;

FIG. 27 is a circuit diagram of an input register which may be utilized as the input register of FIG. 13; and

FIG. 28 is a circuit diagram of a binary register which may be utilized as the binary register of. FIGS. 13, 18a and 18b.

In FIG. 1, a table 1, or other structure to be moved, of a lathe, bore drilling machine or other fabricating machine is movable on tracks on a bed Z'by a feed screw 3. A motor 4, constituting a first servo element, turns the feed screw 3, and hence moves the table 1- according to the output of a comparator 20. If necessary, the motor 4 may comprise several motors or a speed reduction device and a clutch.

An optical detector head 5 is afiixed to the table 1 and cooperates with a standard graduated optical scale 6 secured to the bed 2 to form an optical system. The optical system, as shown in FIG. 2, includes a photoelectric element or sensor 7 such as, for example, a photodiode, photocell or solar cell, mounted within the head 5 for movement parallel to the'scale 6.

The sensor 7 is positioned in the head 5, as shown in FIG. 2, and a lens projects the magnified image 8 of the scale 6 thereon. The sensor 7 provides one pulse each time an image of a graduation of the scale passes said sensor, due to the movement of the head 5 with the table 1 or due to the movement of said sensor within said head.

Externally surrounding the optical detector head 5 is a gear 9, Whose rotary motion changes the position of the photoelectric element or sensor 7 in the direction of the arrow in FIG. 2. The gear meshes with a gear 11, which is driven by a-drive motor 10. The drive motor 10 forms part of a second servo element. The gear 9 also meshes with a gear 13 which actuates a pulse generator 12. Accordingly, the drive motor 10 displaces the position of the sensor 7 an amount which the pulse generator 12 detects.

Decimal position-control or input data is entered in a dial panel 14 having seven dials for seven digits. Five digits are integers and 2 digits are decimal fractions. A

decimal-binary conversion register 15 provides the binary value of the decimal fraction to a comparator 16. The comparator 1d compares the binary value of the decimal fraction with another input thereto and controls the drive motor in accordance with the output value and polarity of said comparator. The polarity of the comparator 16 also determines, through a reversible select gate 17, whether pulses from the pulse generator 12 are added to or subtracted from the value or count in a reversible binary counter 18. The reversible binary counter 18 indicates the position of the sensor 7 (FIG. 2) relative to its center position in the detector head 5, and applies a value corresponding to said position to the comparator 16. The comparator 16 may then compare the desired decimal fraction input to the actual position of the sensor 7 (FIG. 2) so as to provide an output signal to the drive motor 10 which will move said sensor in the right direction. The components 1%, 11, 9, 13, 12, 17, 18 and 16 form a first loop.

Thus, the drive motor 10, for displacing the sensor 7 (FIG. 2), is controlled by the data entered into the two decimal fraction places N6 and N7 of the dial panel 14. The decimal fraction data is stored in the decimalbinary conversion register after being converted to binary numbers. The output of the conversion register 15 operates the drive motor 10. The displacement of the sensor 7 (FIG. 2) by the servomotor or drive motor 111 is detected by the gear 13, converted into an electrical pulse signal by the pulse generator 12 and fed to the reversible binary counter 18 through the reversible select gate 17. The reversible select gate 17 is controlled by the operating direction of the drive motor 11). The content of the reversible binary counter 18 is compared with that of the decimal-binary conversion register 15 by the comparator 1d and an agreement in the comparison stops the rotary motion of the drive motor 10.

If the gear 9 is rotated by the drive motor 10, the sensor 7 (FIG. 2), provided in the detector head 5, will be displaced by means not illustrated in a direction, indicated in FIG. 2 by the arrow heads, depending upon the rotation. The sensor 7 is thus preset in accordance with the value of the decimal fraction in the two decimal fraction places N6 and N7 in the input data of the dial panel 14. The sensor 7 is set to the low side of the scale, so that the center of the detector head 5 is higher than said sensor by the correct amount.

The second control loop driving the table 1 includes the dial panel 14, a decimal-binary conversion register 19, a comparator 20, the drive motor 4, the lead screw 3, the table 1, the detector head 5, a reversible select gate 21 and a reversible binary counter 22.

In the second control loop, the value of the five integral digits N1, N2, N3, N4 and N5 of the input to the dial panel 14 are stored in the decimal-binary conversion register 19, whose modified output operates the drive motor 4 through the comparator 20. Rotary motion of the drive motor 4 moves the table 1 by means of the feed screw 3. As the table 1 moves, the detector head 5 mounted on said table also moves. The sensor 7 (FIG. 2) reads out the graduations on the standard scale 6, which is divided into units of 1 mm. and produces electrical pulse signals which are fed to the binary reversible counter 22 through the reversible select gate 21.

The reversible select gate 21 detects the polarity of the output of the comparator 20. The polarity of the output of the comparator 20 depends upon which input to said comparator is larger and thereby determines the direction of movement of the table 1. The reversible select gate 21 then determines whether the pulses from the detector head 5 are to be added to or subtracted from the value or count in the reversible binary counter 22 in accordance with the feed direction. The reversible binary counter 22 then counts or stores a value or count corresponding to the position of the detector head 5. The content or count of the reversible binary counter 22 is compared with that of the conversion register 19 by the comparator 20. An agreement in the comparsion stops the rotary motion of the drive motor 4. The table 1 stops at a position where the sensor 7 (FIG. 2) just reads out a graduation of the scale 6; that is, when said sensor coincides with a graduation of the magnified scale image 8. Consequently, the table 1 is moved by the input to both the first and second control loops a distance corresponding to the total input data, N1 N2 N3 N4 N5.N6 N7, including the value of the decimal fraction placed in the input to the dial panel 14, and the value of integral digits in the input data applied to the second control loop.

The stopping of the drive motor 4 is more accurately positioned by gradually reducing the speed of the table 1. When the aforedescribed control device is utilized, wherein the detector head 5 is preset by the first control loop, the content or count of the reversible binary counter 22 0f the second control loop may become incorrect. Furthermore, the detector head 5 may be displaced from the proper graduation position upon completion of positioning, due to over-movement of the table and elastic deformation. This may result in disagreement between the content or count of the reversible binary counter 22 and the actual position of the table 1.

In order to further explain the invention, reference is now made to FIGS. 3a, 3b and 31:. For this purpose, it is convenient to designate the seven digit input data, which may be N1 N2 N3 N4 N5'.N6' N7, as n and t0 correspondingly designate N1 N2 N3 N4 N5 as m and N6 N7 as n Analogously, the actual positional data N1 N2 N3 N4 N5.N6 N7 of the controlled object is designated as :1. N1 N2 N3 N4 N5 is designated as 11 and N6 N7 is designated as n On this basis, two principal examples (1) and (2) of control situations may be distinguished and each of them may occur in three subsidiary aspects (a), (b) and (c), as hereinafter described.

(a) Both n and n may be dislocated to the higher Value side with respect to the prescribed datum values respectively.

(b) The prescribed datum value may be located between n and n (0) Both in and n may be located on the lower value side with respect to the prescribed datum values.

This example may be subclassified, similarly to example (1), into three subsidiary possibilities.

In example 1(a), due to over-feeding or under-feeding in the preceding positioning operation, or due to other reasons, the actual location of the detector head 5 is represented by the preset amount n being dislocated to the right side of a given scale line 12 on the standard measure 6. In examples 1(b) and 1(0), the location of the detector head 5 is represented by the preset amount n being on the left side of the scale line n However, in example 1( b), the input value n for the next positioning operation is located at the right side of the scale line 11 to produce a higher value for the detector head 5. The amounts I1 and in are both located in the left side of the scale line n 'to produce a lower value in example 1(0).

FIGS. 3a, 3b and 30 show the aforedescribed three examples 1(a), 1(b) and 1(0) when n n (the new Vernier value exceeds the old). In FIGS. 3a, 3b and 3c, if the total value goes up, n n, so that the detector head 5 is moved to a higher value (left side), and the table 1 will also move. When the photoelectric element 7, located in the position n of the detector head 5, reaches the scale line 11 a pulse may be detected by said head. Since the content or count of the reversible binary counter 22 is already 11 said count is advanced to n +1 and disagrees with the then position of the table. That is, the content or count of the reversible binary counter 22 must then be re duced by +1.

Similarly to the foregoing, reduction by +1 is necessary in example 1(b). On the other hand, in example 1(a), only when the scale line n +l coincides with the position of the scale line 11 will a pulse be detected. In this case, the aforedescribed disagreement may not be caused.

' In the same manner, the cases of n n (integral value decreasing) and n n' (total value decreasing) will create the need for compensation, as shown in Table I. In Table I, the pulse, which is detected when the photoelectric element 7 of the optical system is present from the position n to the position 11 due to passing across the scale of the standard measure, is neglected.

The compensation, as shown in Table I, could be accomplished by using the content or count of the reversible binary counter 18 of the first control loop and the content or count of the reversible binary counter 22 of the second control loop and also by determining which of the conditions (at) (b) and (c) exists. Correct determination of these conditions, however, requires a complicated device which creates some difliculty.

An additional difiiculty may arise when n =n which is not included in Table I. In the automatic position system of the present invention, as shown in FIG. 1, the direction of movement of the table 1 is simply determined by a determination ofthe relationship of the values u and n or the integral digits. It would therefore be necessary to determine the direction of movement of the table 1.

The automatic positioning system of the present invention eliminates the aforementioned difiiculties and provides effective compensation.

In accordance with the present invention, a zero range of a given interval is established in each scale of the standard measure, and the position of'the detector head is always located in the zero range when positioning is completed. If the value of n of the decimal fraction digits in the input data is Within the zero range, no pulse is detected, although the table 1 'moves'the photoelectric element 7 of the detecting means or detector'head 5 across the scale line located within the zero range. For normal control operation, compensation is necessary only for 11 located outside the zero range. When the value of higher digits of the input data and the then va'lue agree (n n and n is located in the zero range, the table 1 is not moved, but remains in position; That is, the zero range represents an error allowable limit.

The zero range setting is provided by equipping the detector head 5 with a shaper circuit for producing a square wave; The zero range setting 'may also be provided by positioning a slit in front of the sensor 7. The zero range setting may also be provided by utilization of the output ofthe sensor 7 without any additional sensor.

The width or duration of the zero range is not necessarily of precise or constant value. However, as hereinbefore stated, since it is impossible to position in a range less than the zero range width or duration, a suitable selection is required in accordance with the structure to be controlled.

Upon completion of the positioning when the then position is not in the zero range, an alarm signal may be utilized to indicate that the control system is in an abnormal condition. Compensation in accordance with the present invention is explained in FIGS. 4a and '41). FIGS. 4a and'4b show where the zero range of determined width is to be set in each scale position.

It is of no significance in FIGS. 40 and 4b if n and 11 are on the high or low value side of the scale n It is only necessary to determine whether in is inside or outside the Zero range. If the n is outside the zero range (FIG. 4a), compensation is necessary. If :2 is inside the Zero range (FIG. 4b), no compensation is necessary. Compensation must be provided in accordance with Table II.

TABLE II Compensation If n n and is on the high value side of the zero range, the content or count of the reversible binary counter 22 of the second control loop is decreased by +1. If n n and n n and n is on the low value side of the zero range, the count of the reversible binary counter 22 is increased by +1.

The foregoing compensation is provided by a compensator compensation circuit 23 of the system of FIG. 1. The compensator 23 is such that the value In of the lower digits fed to the first control loop and the corresponding value n of the then position are compared at the same time that the total input data n and the data n of thecorresponding position of the table 1 are compared. In accordance with the aforementioned two comparisons and with the zero range signal supplied by the detector head 5, the compensation signal is supplied to the reversible binary counter 22.

If the table 1 is positioned at a certain location by the preceding signals, the decimal fraction digits and the integral digits of the old input data it (which is N1 N2 N3 N4 N5-N6 N7), which is stored respectively in the reversible binary counters 18 and 22; is maintained even after completion of the positioning operation. The new input data n (which is N1 N2 N3 N4 N5"N6 N7) is supplied to the conversion registers 15 and 19 from the dial panel 14, and compared by the comparators 16 and 20. The" comparison results are supplied to the compensator'23. The detector head 5 supplies the Zero range signal to determine whether the value In of the decimal fraction of the new input data m is located inside or outside the zero range. The compensator 23 compensates the count or content of the reversible binary counter 22 by comparing the results, as indicated in Table II.

The following briefly explains the invention with respect to an actual example. It may be assumed that the standard scale 6, 8 is graduated by 1 mm. spaces and that the preset counter is used respectively for the comparator 16 and the comparator 20. If the position input data n"= 22389.63 is entered in the dial panel 14, the high five digits of the data, or n which is 22389, are supplied to' the second control loop. The low two digits of the data, or 11 which is 63, are supplied to thefirst control loop. If the input data is supplied to the comparator 16, the drive motor 10 is operated by the output of said comparator, and the photoelectric element 7 of the detectorhead 5, is displaced as indicated by the arrows. If the displacement of as much as 0.63 mm., corresponding to the value of m of the low two digits of the input data, is supplied to the photoelectric element 7, the number of pulses provided by the pulse generator 12 becomes equal to the input value in the dial panel 14, and operation of the drive motor 10 stops. The presetting of the detector head 5 is thus completed.

On'the other'hand, the comparator 16 comp-ares the value of the low two digits n= "='63 in the input data with the corresponding low two digits n of the data of the actual position of the table 1. The comparators 16 and 20 compare the total value n of the input data with the data of the actual position n='0OO0.0.00 of the table 1. The results of the comparisons are supplied to the compensation circuit 23. At such time, the zero range signal of the detector head indicates that the total input data and the low two digits of the input data are both bigger than the corresponding value of the position of the table 1 and that 11 is located outside the zero range, by feeding one pulse. The value 1 is then deducted by the output of the compensating circuit 23 from the content or count of the reversible binary counter 22.

After the content or count of the reversible binary counter 22 is compensated, the drive motor 4 is operated by the output of the comparator 20 to move the table 1 in the required direction. An agreement of the content or count of the reversible binary counter 22 with the integral digits, indicated by the dial panel 14, will stop the motor 4- and thereby stop the movement of the table. Prior to the commencement of movement of the table, the photoelectric element 7 of the detector head 5 is preset by a distance corresponding to the decimal fraction of the input data. The movement of the table 1 is controlled by the preset amount, that is, by the distance corresponding to the total input data including the decimal fraction digits of the input. If the decimal fraction digit value n1 of the new input data n is located inside the zero range, the zero range signal will be fed to the compensation circuit or compensator 23 by the detector head 5 to indicate that no compensation is required. At this time, if the value n of the integral digits of the new input data It is the same as the then value, the table will not be moved.

In Table I, the first two columns indicate the prevailing conditions and the last three columns denote the compensation or correction required when the condition of FIG. 3a, FIG. 3b or FIG. 30 also prevails. In Table II, the first two columns indicate the prevailing conditions and the last two columns denote the compensation or correction required when the condition of FIG. 4a or FIG. 4b also prevails.

FIG. 5 discloses the optical detector head 5, the drive motor and the pulse generator 12 of FIG. 1. A plurality of photoelectric elements or sensors 711, 7b and 7c are aflixed to a plate 31 which is movably mounted and is moved in the directions of the arrows 32. The plate 31 is thus moved in directions parallel to the length of the standard scale 6.

As the photoelectric elements or sensors 7a, 7b and 7c are moved, they produce output signals which are converted into a plurality of pulses by the pulse generator 12. The pulse generator 12 may comprise, for example, a source of light or lamp 33 and a photosensitive device 34 positioned in spaced relation with said lamp. A slotted disc 35 is interposed between the lamp 33 and the phototensitive device 34. This constitutes a known type of mechanical pulse generator.

A lens as is utilized to direct the image of the scale 6 on to the appropriate surface within the detector head 5. Although three photoelectric elements are disclosed in FIG. 5, two or four such elements may be utilized.

FIG. '6 discloses some of the basic components of the optical detector head 5 of FIG. 1. In FIG 6, the photo electric elements 7a, 7b and 7c are shown separated from the plate 31, in order to illustrate the apertures 37a, 37b and 37c formed through said plate. In actuality, the photoelectric element 7a is mounted on the plate 31 over the aperture 37a, the sensor 7b is mounted on said plate over the aperture 37b and the sensor 70 is mounted on said plate over the aperture 37c.

A lamp 38 provides light upon the scale 6 via a suitable lens system which also directs the light impinging upon said scale to the photosensitive surfaces of the photoelectric elements 711, 7b and 70 via the corresponding apertures through the plate 31. The lens system may comprise, for example, a lens 39, a half mirror 31 and a lens 42.

FIG. 7 shows a zero range device which may be utilized as the zero range device in the detector head 5 of FIG. 1. In FIG. 7, a magnified image 43 of a graduation such as, for example, a graduation 44 (FIG. 6) of the scale 6, is projected on to the undersurface of the plate 31. Another image 45 of a graduation is also projected on to the undersurface of the plate 31. The graduation images 43 and 45 are indicated as cross hatched areas in order to enhance the clarity of illustration and are spaced from each other by a single pitch.

The apertures 37a and 37b formed through the plate 31 are spaced from each other in the direction of length of the image 43, but are closely adjacent each other in the direction of Width of said image, so that each of said apertures has an edge which is coincident with the lengthwise axis of said image and each of said apertures is positioned adjacent a corresponding end of said image. The aperture 37a extends approximately halfway in coincidence with the image 43 and extends approximately halfway beyond one lengthwise edge of said image. The aperture 37b extends approximately halfway in coincidence with the image 43 and extends approximately halfway beyond the other lengthwise edge of said image. The aperture 370 coincides exactly with the center of the image 45. Thus, the central portion of the aperture 37c coincides with the central portion of the image 45 and said aperture extends over an equal area beyond each lengthwise edge of said image. The aperture 370 is thus spaced approximately a single pitch from the apertures 37a and 37b. The area of the aperture 37c is between three and four times larger than the area of the aperture 374: or the area of the aperture 37b.

The zero range is determined by the area of the aperture 370. The light which impinges upon the photoelectric element 70 passes through the aperture 370 and the output of said photoelectric element is the zero range signal. As hereinbefore described, the zero range signal, provided by the photoelectric element 70 determines whether or not it is necessary to compensate the reversible binary counter 22.

FIGS. 8a and 8b illustrate the outputs of the sensors 7a, 7b and 7c of FIGS. 5 and 6. In FIG. 8a, the abscissa represents time and the ordinate represents the output signal such as, for example, voltage, of the photoelectric element. Thus, the output signal of the photoelectric element 7a of FIG. 6 is indicated as curve A, the output signal of the photoelectric element 7b of FIG. 6 is indicated as curve B and the output signal of the photoelectric element 7c of FIG. 6 is indicated as curve C. As indicated, all three curves are symmetrical about the center line 46 of the graduation.

In FIG. 8b, the abscissa represents time and the ordinate represents the amplified output signal of the photoelectric element, as far as the photoelectric elements 70 and 7b are concerned. The normal output signal of the photoelectric element 7c is indicated as curve C in FIG. 8b and is merely transposed from FIG. 8a. In FIG. 8b, the outputs of the photoelectric elements 7a and 7b are amplified by a differential amplifier and the curves D and E are the differential-amplified outputs of said photoelectric elements.

FIG. 9 discloses a central position and zero range indicator which may be utilized in the detector head of FIG. 5. In FIG. 9, the output signal of the first photoelectric element 7a, represented by curve A of FIG. 8a, is applied to a first input terminal 47a. The output signal of the second photoelectric element 7b, represented by curve B of FIG. 8a, is applied to a second input terminal 47b. The output signal of the third photoelectric element 70, represented by the curve C of FIG. 8a, is applied to a third input terminal 47 c. 

